Altitude and attitude non linear controller applied to a quadrotor with a slung load

This paper presents the mathematical model and control structure of a quadrotor with a slung load. In this paper the nonlinear control guarantees the asymptotic stability of the quadrotor’s attitude and altitude. The effect of the slung load in the quadrotor system is that it creates a disturbance effect. In this article, a mathematical analysis of the quadrotor-slung load system was derived by Euler-Lagrange formulation. A feedback error control has been designed that eliminates the disturbances. Finally, through the simulation software Matlab/Simulink, we get the results to ensure that the proposed control is adequate to maintain the asymptotic stability of the quadrotor-slung load system to the desired height.